The SILO4 Walking Robot: Software
This software runs under QNX 6.1, and has been developed using the Photon Application Builder. The SILO4
controller can be divided into basic motion libraries, GUI, and high level control (gait
generation).
The basic motion libraries allow analog and digital input and output, individual axis
control, leg control and body control, coordinated motion, and straight line trajectory
generation. These libraries are called dig_io, ana_io, lm629,
rob, link, leg, kin, walk, clk and mat. The basic
motion libraries are included in the silo4MotionLib.zip file. They are also included in the SRC folder contained in
the silo4Controller.zip.
The GUI is composed by four windows, defined in the *.wgt
files, which can be found in the WGT folder, contained in the silo4Controller.zip
file. The callbacks associated with the buttons and controls of these windows can be found
in the cbk#.c files, in the SRC folder.
Free gait generation and high level robot control and simulation. These files can be found
in the SRC folder, contained in the silo4Controller.zip file:
gait, silo,
mov, transfer, body, sens, simov,
graf, mat2, nnetout, and nnetlib.
To compile the basic libraries, you can copy the files contained in silo4MotionLib.zip
and use any C compiler (cc command).
To compile the whole SILO4 controller, you must copy the directory structure contained in silo4MotionLib.zip.
Then, you can compile it using the the Photon
Application Builder. The silo4Controller.zip file
includes directories and files generated by the Photon Application Builder (abmain..., etc), needed to compile and run
the SILO4 controller.
Click here to donwnload the silo4MotionLib.zip